/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "connect.h"
#include "problem.h"
#include "stepmotor.h"
#include "string.h"
#include "connect_dma.h"
#include "gaming.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart1;

osThreadId defaultTaskHandle;
osThreadId StepMotorXHandle;
osThreadId StepMotorYHandle;
osThreadId StepMotorZHandle;
/* USER CODE BEGIN PV */
volatile int FLAG = 0;
const char *str = "send";
volatile int eMagNet = 0;
volatile int send = 0;
int idx1 = 0;
int idx2 = 0;
int IDX = 0;
int PLAYER_FINISHED = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
void StartDefaultTask(void const * argument);
void StepMotorX_Task(void const * argument);
void StepMotorY_Task(void const * argument);
void StepMotorZ_Task(void const * argument);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	UART_Parser_Init(&huart1);
	
	// DIR_Port, DIR_Pin, PUL_Port, PUL_Pin
	StepMotor_Init(&motorX, GPIOB, GPIO_PIN_6, GPIOB, GPIO_PIN_4);
	StepMotor_Init(&motorY, GPIOB, GPIO_PIN_7, GPIOB, GPIO_PIN_5);
	StepMotor_Init(&motorZ, GPIOB, GPIO_PIN_3, GPIOD, GPIO_PIN_7);
	
	//__HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);

  /* USER CODE END 2 */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* definition and creation of StepMotorX */
  osThreadDef(StepMotorX, StepMotorX_Task, osPriorityIdle, 0, 128);
  StepMotorXHandle = osThreadCreate(osThread(StepMotorX), NULL);

  /* definition and creation of StepMotorY */
  osThreadDef(StepMotorY, StepMotorY_Task, osPriorityIdle, 0, 128);
  StepMotorYHandle = osThreadCreate(osThread(StepMotorY), NULL);

  /* definition and creation of StepMotorZ */
  osThreadDef(StepMotorZ, StepMotorZ_Task, osPriorityIdle, 0, 128);
  StepMotorZHandle = osThreadCreate(osThread(StepMotorZ), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_4|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6
                          |GPIO_PIN_7|GPIO_PIN_8, GPIO_PIN_RESET);

  /*Configure GPIO pins : PD4 PD6 PD7 */
  GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : PB3 PB4 PB5 PB6
                           PB7 PB8 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6
                          |GPIO_PIN_7|GPIO_PIN_8;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    UART_Parser_RxCallback(huart);
}


/* USER CODE END 4 */

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN 5 */
  /* Infinite loop */
	for(;;)
	{
		Problem_Update();
		UART_ParseBuffer();

		
		if (gamestate == PREPARE)
		{
			if (!OnThePoint(&Motor, &Origin))
				GoToPoint(&Motor, &Origin);
			else
			{
				gamestate = RUNNING;
				white_piece_flag = 1; black_piece_flag = 1;	
			}
		}
			

		if (problem == STOP)
		{
			
		}
		else if (problem == A)
		{
			
		}
		else if (problem == B)
		{
			
		}
		else if (problem == C)
		{		
			SetOrigin(&Motor, &Origin);
		}
		else if (problem == D)
		{
			if (gamestate == RUNNING && !PLAYER_FINISHED)
			{
				UpdatePieceBoardType();
			}
			else if (motorXY_state != OK && motorZ_state != OK)
			{
				 
				if (motorXY_state == IDLE && motorZ_state == IDLE)
				{
					IDX = GetNextAIMove(PieceBoard);
					black_piece_idx++;
					PieceBoard[IDX].type = BLACK;
				}
				
				PlacePiece(&Motor, &BlackPiece[black_piece_idx-1], &PieceBoard[IDX]);
			}
			else if (motorXY_state == OK && motorZ_state == OK)
			{
				SetOrigin(&Motor, &Origin);
				if (OnThePoint(&Motor, &Origin))
				{
					PLAYER_FINISHED = 0;
					
				}
			}
		}
		else
		{
			//GoToPoint(&Motor, &WhitePiece[idx1]);
			//PlacePiece(&Motor, &BlackPiece[idx1], &PieceBoard[idx2]);
			//UpdatePieceBoardType();
			GoToPoint(&Motor, &Origin);
		}
			
		osDelay(1);
	}
  /* USER CODE END 5 */
}

/* USER CODE BEGIN Header_StepMotorX_Task */
/**
* @brief Function implementing the StepMotorX thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StepMotorX_Task */
void StepMotorX_Task(void const * argument)
{
  /* USER CODE BEGIN StepMotorX_Task */
  /* Infinite loop */
  for(;;)
  {
	  //if (!(motorZ_state == DOWN || motorZ_state == UP))
		StepMotor_Pluse(&motorX);
    osDelay(1);
  }
  /* USER CODE END StepMotorX_Task */
}

/* USER CODE BEGIN Header_StepMotorY_Task */
/**
* @brief Function implementing the StepMotorY thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StepMotorY_Task */
void StepMotorY_Task(void const * argument)
{
  /* USER CODE BEGIN StepMotorY_Task */
  /* Infinite loop */
  for(;;)
  {
	//if (!(motorZ_state == DOWN || motorZ_state == UP))
		 StepMotor_Pluse(&motorY);
	osDelay(1);
  }
  /* USER CODE END StepMotorY_Task */
}

/* USER CODE BEGIN Header_StepMotorZ_Task */
/**
* @brief Function implementing the StepMotorZ thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StepMotorZ_Task */
void StepMotorZ_Task(void const * argument)
{
  /* USER CODE BEGIN StepMotorZ_Task */
  /* Infinite loop */
  for(;;)
  {
	StepMotor_Pluse(&motorZ);
    osDelay(1);
  }
  /* USER CODE END StepMotorZ_Task */
}

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM6)
  {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
